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Programming manual for Meca500 (for firmware 9.2.x)
TCP/IP COMMUNICATION
2.3. data request commands
The request (
Get*
) commands in this section
generally
return (on TCP port 10000) values for parameters
that have already been configured
(sent and executed) with a
Set*
command (or the default values).
Motion commands sent to the robot are executed one after the other, while
Get*
commands are
executed immediately. Therefore, if you send a
SetTrf
command, then a
MovePose
command, then
another
SetTrf
command, and immediately after that a
GetTrf
command, you will get the arguments of
the first
SetTrf
command.
In the following subsections, request commands are presented in alphabetical order. For every
Get*
command in this section, there is a corresponding
Set*
command.
2.3.1 GetAutoConf
This command returns the state of the automatic posture configuration selection, which can be affected
by
SetAutoConf
and
SetConf
commands.
Responses
[2028][
e
]
–
e
: enabled (1) or disabled (0).
2.3.2 GetAutoConfTurn
This command returns the state of the automatic turn configuration selection, which can be affected by
SetAutoConfTurn
and
SetConfTurn
commands.
Responses
[2031][
e
]
–
e
enabled (1) or disabled (0).
2.3.3 GetBlending
This command returns the blending percentage, set with the
SetBlending
command.
Responses
[2150][
p
]
–
p:
percentage of blending, ranging from 0 (blending disabled) to 100%.
2.3.4 GetCartAcc
This command returns the desired limit of the acceleration of the TRF with respect to the WRF, set by
the command
SetCartAcc
.
Responses
[2156][
p
]
–
p
: percentage of maximum acceleration of the TRF.
Summary of Contents for Meca500 R3
Page 10: ......
